diff --git a/.gitattributes b/.gitattributes
index 59191affd6df403d54bef6096388aa01c1f468cc..9fd1591f6e038a50bd6a365e012e8c4d513137a6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -5363,3 +5363,5 @@ dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/mesh
 dataset/desktop_supplies/office_stationery/6905a8e610c3539d805afb64cab56efb/sharpener_029.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/6923c839b7e75939b01760ede0158a58/marker_004.usd filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/6923c839b7e75939b01760ede0158a58/mesh/marker_004.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/ballpoint_pen_004.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mesh/ballpoint_pen_004.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/ballpoint_pen_004.urdf b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/ballpoint_pen_004.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d9ff21f9f53a0c8117d5f4ed138c8660a81b64d2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/ballpoint_pen_004.urdf
@@ -0,0 +1,63 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="ballpoint_pen_004">
+   <link name="ballpoint_pen_004">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/ballpoint_pen_004.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/ballpoint_pen_004_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.40</mu1>
+            <mu2>0.30</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0200" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>69f655ce52315ca195a449c3f1fb9f1d</uuid>
+         <domain>desktop_supplies</domain>
+         <super_category>office_stationery</super_category>
+         <category>ballpoint_pen</category>
+         <name>textured pen</name>
+         <color>gray</color>
+         <shape>elongated</shape>
+         <material>plastic</material>
+         <description>gray textured ballpoint pen with blue clip and metallic tip</description>
+         <min_height>0.0113</min_height>
+         <max_height>0.0113</max_height>
+         <real_height>0.0113</real_height>
+         <min_mass>0.01</min_mass>
+         <max_mass>0.03</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260420201759</generate_time>
+         <gs_model>""</gs_model>
+         <tags>is_graspable</tags>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>11</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/ballpoint_pen_004.usd b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/ballpoint_pen_004.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f7244113441a8a93401a7641ed7587aa268ef56b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/ballpoint_pen_004.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e7a7d2ca83199a1de4b3f946e4abfc545af73ee76e266fd6f9adc635eb31664
+size 4934812
diff --git a/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mesh/ballpoint_pen_004.glb b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mesh/ballpoint_pen_004.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ab191d42071699e53cf7e3a5a5f8551ee335a48c
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mesh/ballpoint_pen_004.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08a1e084b154a21eef29137ebf589608430080946e58baff592a54dedb49c6f3
+size 19030720
diff --git a/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mesh/ballpoint_pen_004.mtl b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mesh/ballpoint_pen_004.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c8d47585484052cc2c7576aabe07001af8793d49
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mesh/ballpoint_pen_004.mtl
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+newmtl ballpoint_pen_004_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mesh/ballpoint_pen_004.obj b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mesh/ballpoint_pen_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46d7f58f86616742f125f110dd6dd65160209a1b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mesh/ballpoint_pen_004.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ballpoint_pen_004_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mesh/ballpoint_pen_004_collision.obj b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mesh/ballpoint_pen_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d82c3cb5afe53829eed206a048ca21fb70ec0acb
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mesh/ballpoint_pen_004_collision.obj
@@ -0,0 +1,873 @@
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diff --git a/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mesh/ballpoint_pen_004_geometry_Looks_material_0.png b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mesh/ballpoint_pen_004_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b5990d1997e5490b0fbebd8f1ce22916b958e21
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mesh/ballpoint_pen_004_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8448d6ecc51b9626046a1831b2a886bb0e75be260e4a4c27e0b038606cfe143
+size 15653363
diff --git a/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b28063f4e7ee55c1b0acb37a89aba3bc947767e2
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl ballpoint_pen_004_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd ballpoint_pen_004_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b5990d1997e5490b0fbebd8f1ce22916b958e21
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8448d6ecc51b9626046a1831b2a886bb0e75be260e4a4c27e0b038606cfe143
+size 15653363
diff --git a/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mjcf/ballpoint_pen_004.xml b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mjcf/ballpoint_pen_004.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4d9c5aae7e0b44bbddffb2627bd531a4b7a6f2d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mjcf/ballpoint_pen_004.xml
@@ -0,0 +1,16 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ballpoint_pen_004">
+  <asset>
+    <material name="material_0" texture="texture_0_ballpoint_pen_004_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_ballpoint_pen_004_geometry_Looks_material_0" type="2d" file="mesh/ballpoint_pen_004_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/ballpoint_pen_004.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/ballpoint_pen_004_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="ballpoint_pen_004">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mjcf/mesh/ballpoint_pen_004.obj b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mjcf/mesh/ballpoint_pen_004.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cacf2c80a5ac7442f8acad844d8a2f78d829e34
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mjcf/mesh/ballpoint_pen_004.obj
@@ -0,0 +1,108472 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl ballpoint_pen_004_geometry_Looks_material_0
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diff --git a/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mjcf/mesh/ballpoint_pen_004_collision.obj b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mjcf/mesh/ballpoint_pen_004_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8af91836daa9249a305fe134d8399497f29c219
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mjcf/mesh/ballpoint_pen_004_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mjcf/mesh/ballpoint_pen_004_collision_0.obj b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mjcf/mesh/ballpoint_pen_004_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8af91836daa9249a305fe134d8399497f29c219
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/69f655ce52315ca195a449c3f1fb9f1d/mjcf/mesh/ballpoint_pen_004_collision_0.obj
@@ -0,0 +1,871 @@
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